CN205439139U - Type of violently walking is got material and is transferred manipulator - Google Patents
Type of violently walking is got material and is transferred manipulator Download PDFInfo
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- CN205439139U CN205439139U CN201521137641.8U CN201521137641U CN205439139U CN 205439139 U CN205439139 U CN 205439139U CN 201521137641 U CN201521137641 U CN 201521137641U CN 205439139 U CN205439139 U CN 205439139U
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Abstract
The utility model discloses a type of violently walking is got material and is transferred manipulator, include the fixed cross beam that arranges along a horizontally X axle, slide along the X axle locate movable cross beam on the fixed cross beam, order about movable cross beam along X axle reciprocating motion in unloading station with get transverse moving drive device, a extracting device and the 2nd extracting device who expects between the station, a extracting device contains to slide along the Y axle of horizontal perpendicular to X axle and locates first on the movable cross beam and move the seat, order about the adsorption apparatus who firstly moves a first sharp driver that the seat moved along the Y axle, is used for adsorbing the product and construct and be used for ordering about adsorption apparatus and construct along Z axle reciprocating motion's an elevating system, the 2nd extracting device contains and slides the second of locating movable cross beam along the Y axle and move the seat, order about clamp that the second moved a second straight line driver that the seat moved along the Y axle, was used for to press from both sides the intake material and get the mechanism and be used for ordering about pressing from both sides and get two elevating system of mechanism along Z axle reciprocating motion. Simple structure, the action process is simple swift, can ensure product quality.
Description
Technical field
This utility model relates to the additional processing equipment of injection machine, particularly relate to a kind of horizontal walk type feeding transfer manipulator.
Background technology
In current injection molding technology field, after injection machine has been molded die sinking, need injection mo(u)lding product out and regrinding-material to be taken out from injection machine by the mechanical hand that is arranged on injection machine.
But, existing for the complicated structure of the mechanical hand of taking-up product and regrinding-material from injection machine, it takes out the course of action extremely very complicated of product and regrinding-material from injection machine, and the most blunt, and working performance is low；And, easily damage the surface of product, the quality causing product is unstable；Furthermore, the unexpected industrial injury of operator easily occurs, it is difficult to ensure operator safety.
Therefore, be badly in need of want a kind of horizontal walk type feeding transfer manipulator to the problem overcoming above-mentioned existence.
Utility model content
The purpose of this utility model be to provide a kind of simple in construction, course of action simple and fast, working performance high, can products quality guarantee and can ensure operator safety horizontal walk type feeding transfer manipulator.
To achieve these goals, this utility model provide a kind of horizontal walk type feeding transfer manipulator, it is adaptable to fetch and deliver the product and regrinding-material formed out, wherein, described horizontal walk type feeding transfer manipulator include:
Fixed cross beam, described fixed cross beam is arranged along the X-axis of a level；
Moving beam, described moving beam slides along described X-axis and is located on described fixed cross beam, and described moving beam arranges along the Y-axis of a level, described Y-axis is perpendicular to described X-axis, and described moving beam has the unloading station along the spaced apart distribution of described X-axis and feeding station；
Cross sliding driving device, described cross sliding driving device is located on described moving beam, and described cross sliding driving device is in transmission connection on described fixed cross beam, moves back and forth between described unloading station and feeding station along described X-axis ordering about described moving beam；
First feeding device, described first feeding device comprises the first Mobile base, first linear actuator, first elevating mechanism and for adsorbing the adsorbing mechanism of described product, described first Mobile base slides along described Y-axis and is located on described moving beam, described first linear actuator is fixed on described moving beam along described Y-axis, described first Mobile base is connected to the outfan of described first linear actuator, described first elevating mechanism is located on described first Mobile base along a vertical Z axis, described adsorbing mechanism is located at the bottom of described first elevating mechanism, described first elevating mechanism orders about described adsorbing mechanism and moves back and forth along described Z axis；And
Second feeding device, described second feeding device comprises the second Mobile base, second linear actuator, second elevating mechanism and for gripping the gripping body of described regrinding-material, described second Mobile base slides along described Y-axis and is located on described moving beam, described second linear actuator is fixed on described moving beam along described Y-axis, described second Mobile base is connected to the outfan of described second linear actuator, described second elevating mechanism is located on described second Mobile base along described Z axis, described gripping body is located at the bottom of described second elevating mechanism, described second elevating mechanism orders about described gripping body and moves back and forth along described Z axis.
Preferably, described cross sliding driving device comprises rotating driver and transmission component, described rotating driver is fixed on described moving beam, described transmission component is in transmission connection between described moving beam and fixed cross beam, and described rotating driver orders about described moving beam by described transmission component and moves back and forth along described X-axis.
It is preferred that described transmission component comprises tooth bar and roller gear, described tooth bar is fixed on described fixed cross beam along described X-axis, and described roller gear is fixed on the outfan of described rotating driver, and the engagement of described roller gear is matched with on described tooth bar.
It is preferred that described horizontal walk type feeding transfer manipulator also include guide rail and guide holder, described guide rail is fixed on described fixed cross beam along described X-axis, and described guide holder is fixed on the bottom of described moving beam, and described guide holder is slidably fastened on described guide rail.
Preferably, described first elevating mechanism comprises the first travelling arm, the second travelling arm, the 3rd linear actuator and the 4th linear actuator, described first travelling arm slides along described Z axis and is located on described first Mobile base, and described second travelling arm slides along described Z axis and is located on described first travelling arm；Described 3rd linear actuator is fixed on described first Mobile base along described Z axis, and described first travelling arm is connected to the outfan of described 3rd linear actuator；Described 4th linear actuator is fixed on described first travelling arm along described Z axis, and described second travelling arm is connected to the outfan of described 4th linear actuator；Described adsorbing mechanism is located at the bottom of described second travelling arm.
Preferably, described first feeding device also comprises switching mechanism, described switching mechanism comprises pin joint seat, rotating turret, trace and the 5th linear actuator, described pin joint seat is fixed on the bottom of described second travelling arm, the top of described rotating turret is formed with the first articulated section, described first articulated section is articulated on described pin joint seat, the described rotating turret side-lower in described first articulated section is formed with the second articulated section, described 5th linear actuator is fixed in described second travelling arm along described Z axis, the upper end of described trace is articulated in the outfan of described 5th linear actuator, the lower end of described trace is articulated in described second articulated section, described 5th linear actuator can order about described trace and drive described rotating turret to be back and forth pivoted between vertical direction and horizontal direction；Described adsorbing mechanism is located on described rotating turret.
It is preferred that described adsorbing mechanism comprises some suckers, described sucker is fixed on described rotating turret, and the absorption direction of described sucker is perpendicular to described rotating turret, and the absorption of described sucker is oriented parallel to described rotating turret place rotational plane.
Preferably, described second elevating mechanism comprises the 3rd travelling arm, the 4th travelling arm, the 6th linear actuator and the 7th linear actuator, described 3rd travelling arm slides along described Z axis and is located on described second Mobile base, and described 4th travelling arm slides along described Z axis and is located on described 3rd travelling arm；Described 6th linear actuator is fixed on described second Mobile base along described Z axis, and described 3rd travelling arm is connected to the outfan of described 6th linear actuator；Described 7th linear actuator is fixed on described 3rd travelling arm along described Z axis, and described 4th travelling arm is connected to the outfan of described 7th linear actuator；Described gripping body is located at the bottom of described 4th travelling arm.
It is preferred that described gripping body comprises pneumatic-finger and two gripper jaws, described pneumatic-finger is fixed on the bottom of described 4th travelling arm, and gripper jaw described in two is respectively fixedly connected with on the corresponding outfan of described pneumatic-finger.
It is preferred that described second feeding device is between described first feeding device and described fixed cross beam.
Compared with prior art, due to of the present utility model horizontal walk type feeding transfer manipulator fixed cross beam along a level X-axis arrange, moving beam slides along X-axis and is located on fixed cross beam, and moving beam is along the Y-axis layout of a level, Y-axis is perpendicular to X-axis, and cross sliding driving device orders about moving beam and moves back and forth between unloading station and feeding station along X-axis；First Mobile base of the first feeding device slides along Y-axis and is located on moving beam, first linear actuator is fixed on moving beam along Y-axis, first Mobile base is connected to the outfan of the first linear actuator, first elevating mechanism is located on the first Mobile base along a vertical Z axis, adsorbing mechanism for adsorption production is located at the bottom of the first elevating mechanism, and the first elevating mechanism orders about adsorbing mechanism and moves back and forth along Z axis；Second Mobile base of the second feeding device slides along Y-axis and is located on moving beam, second linear actuator is fixed on moving beam along Y-axis, second Mobile base is connected to the outfan of the second linear actuator, second elevating mechanism is located on the second Mobile base along Z axis, be located at the bottom of the second elevating mechanism for gripping regrinding-material gripping body, the second elevating mechanism orders about gripping body and moves back and forth along Z axis.Thus, moving beam can be ordered about by cross sliding driving device to move along the x-axis to feeding station, ordered about adsorbing mechanism by the first elevating mechanism of the first feeding device again and be moved downward to the level height identical with the product formed out on mould along Z axis, being ordered about the first Mobile base by the first linear actuator again drives adsorbing mechanism to move close to the product formed out along Y-axis, and is adsorbed, by adsorbing mechanism, the product that forms out；Then, being ordered about the first Mobile base by the first linear actuator drives adsorbing mechanism reversely to move away from above-mentioned mould along Y-axis, the pulling of product is departed from mould, then ordered about adsorbing mechanism by the first elevating mechanism and move up the initial position being back to before declining along Z axis；Then, order about moving beam by cross sliding driving device to move along the x-axis to unloading station the discharging operation carrying out unloading adsorbed product.And, order about moving beam by cross sliding driving device to move along the x-axis to feeding station, ordered about gripping body by the second elevating mechanism of the second feeding device again and be moved downward to the level height identical with the regrinding-material formed out on above-mentioned mould along Z axis, being ordered about the second Mobile base by the second linear actuator again drives gripping body to move close to the regrinding-material formed out along Y-axis, and is clamped, by gripping body, the regrinding-material that forms out；Then, the second linear actuator order about the second Mobile base and drive gripping body reversely to move away from mould along Y-axis, the pulling of regrinding-material is departed from mould, then ordered about gripping body by the second elevating mechanism and move up the initial position being back to before declining along Z axis；Then, order about moving beam by cross sliding driving device to move along the x-axis to unloading station the discharging operation carrying out unloading sandwiched regrinding-material.That is, of the present utility model horizontal walk type feeding transfer manipulator achieve and automatically fetch and deliver the product and regrinding-material formed out, course of action is the simplest and flexibly and fast, and working performance is greatly improved；Can preferably avoid damage to the surface of product, with stable products quality guarantee；Greatly reduce operator and the probability of unexpected industrial injury occurs, it is possible to preferably ensure operator safety.And, of the present utility model horizontal walk the type feeding transfer manipulator advantage also with simple in construction.
Accompanying drawing explanation
Fig. 1 be of the present utility model horizontal walk type feeding transfer manipulator combination schematic perspective view.
Fig. 2 is 1 in the schematic diagram at another visual angle.
Fig. 3 is the front view of Fig. 1.
Fig. 4 be of the present utility model horizontal walk type feeding transfer manipulator the first feeding device remove the combination schematic perspective view after the first linear actuator.
Fig. 5 be of the present utility model horizontal walk type feeding transfer manipulator the second feeding device remove the combination schematic perspective view after the second linear actuator.
Detailed description of the invention
In order to describe technology contents of the present utility model, structural feature in detail, below in conjunction with embodiment and coordinate accompanying drawing to be described further.
Refer to Fig. 1 to Fig. 5, of the present utility model horizontal walk type feeding transfer manipulator 100 be applicable to fetch and deliver product (not shown) and the regrinding-material (not shown) that injection machine (not shown) is formed out, wherein, of the present utility model horizontal walk type feeding transfer manipulator 100 include fixed cross beam 10, moving beam 20, cross sliding driving device the 30, first feeding device 40 and the second feeding device 50, fixed cross beam 10 is arranged along the X-axis of a level, when specifically applying, fixed cross beam 10 is to be fixedly installed on injection machine along X-axis.The one end of moving beam 20 slides along X-axis and is located on fixed cross beam 10, and moving beam 20 is along the Y-axis layout of a level, and Y-axis is perpendicular to X-axis, and moving beam 20 has the unloading station along the spaced apart distribution of X-axis and feeding station.Cross sliding driving device 30 is located on moving beam 20, and cross sliding driving device 30 is in transmission connection on fixed cross beam 10, moves back and forth between unloading station and feeding station along X-axis ordering about moving beam 20.First feeding device 40 comprises the first Mobile base the 41, first linear actuator the 42, first elevating mechanism 43 and adsorbing mechanism 44 for adsorption production, first Mobile base 41 slides along Y-axis and is located on moving beam 20, first linear actuator 42 is fixed on moving beam 20 along Y-axis, first linear actuator 42 is preferably cylinder, but is not limited thereto.First Mobile base 41 is connected to the outfan of the first linear actuator 42, first elevating mechanism 43 is located on the first Mobile base 41 along a vertical Z axis, adsorbing mechanism 44 is located at the bottom of the first elevating mechanism 43, and the first elevating mechanism 43 orders about adsorbing mechanism 44 and moves back and forth along Z axis.Second feeding device 50 comprises second Mobile base the 51, second linear actuator the 52, second elevating mechanism 53 and for gripping the gripping body 54 of regrinding-material, second Mobile base 51 slides along Y-axis and is located on moving beam 20, second linear actuator 52 is fixed on moving beam 20 along Y-axis, second linear actuator 52 is preferably cylinder, but is not limited thereto.Second Mobile base 51 is connected to the outfan of the second linear actuator 52, and the second elevating mechanism 53 is located on the second Mobile base 51 along Z axis, and gripping body 54 is located at the bottom of the second elevating mechanism 53, and the second elevating mechanism 53 orders about gripping body 54 and moves back and forth along Z axis.Thus, moving beam 20 can be ordered about by cross sliding driving device 30 to move along the x-axis to feeding station, ordered about adsorbing mechanism 44 by the first elevating mechanism 43 of the first feeding device 40 again and be moved downward to the level height identical with the product formed out on the mould in injection machine along Z axis, being ordered about the first Mobile base 41 by the first linear actuator 42 again drives adsorbing mechanism 44 to move close to the product formed out along Y-axis, and is adsorbed, by adsorbing mechanism 44, the product that forms out；Then, being ordered about the first Mobile base 41 by the first linear actuator 42 drives adsorbing mechanism 44 reversely to move away from above-mentioned mould along Y-axis, the pulling of product is departed from mould, then ordered about adsorbing mechanism 44 by the first elevating mechanism 43 and move up the initial position being back to before declining along Z axis；Then, order about moving beam 20 by cross sliding driving device 30 to move along the x-axis to unloading station the discharging operation carrying out unloading adsorbed product.And, order about moving beam 20 by cross sliding driving device 30 to move along the x-axis to feeding station, ordered about gripping body 54 by the second elevating mechanism 53 of the second feeding device 50 again and be moved downward to the level height identical with the regrinding-material formed out on above-mentioned mould along Z axis, being ordered about the second Mobile base 51 by the second linear actuator 52 again drives gripping body 54 to move close to the regrinding-material formed out along Y-axis, and is clamped, by gripping body 54, the regrinding-material that forms out；Then, being ordered about the second Mobile base 51 by the second linear actuator 52 drives gripping body 54 reversely to move away from mould along Y-axis, the pulling of regrinding-material is departed from mould, then ordered about gripping body 54 by the second elevating mechanism 53 and move up the initial position being back to before declining along Z axis；Then, order about moving beam 20 by cross sliding driving device 30 to move along the x-axis to unloading station the discharging operation carrying out unloading sandwiched regrinding-material.That is, of the present utility model horizontal walk type feeding transfer manipulator 100 achieve and automatically fetch and deliver the product and regrinding-material formed out, course of action is the simplest and flexibly and fast, and working performance is greatly improved；Can preferably avoid damage to the surface of product, with stable products quality guarantee；Greatly reduce operator and the probability of unexpected industrial injury occurs, it is possible to preferably ensure operator safety.And, of the present utility model horizontal walk type feeding transfer manipulator 100 advantage also with simple in construction.Specifically, as follows:
Refer to Fig. 1 to Fig. 3, cross sliding driving device 30 comprises rotating driver 31 and transmission component 32, rotating driver 31 is fixed on moving beam 20, transmission component 32 is in transmission connection between moving beam 20 and fixed cross beam 10, and rotating driver 31 orders about moving beam 20 by transmission component 32 and moves back and forth along X-axis.Wherein, rotating driver 31 is preferably frequency conversion type brake motor, but is not limited thereto.Specifically, transmission component 32 comprises tooth bar 321 and roller gear 322, and tooth bar 321 is fixed on fixed cross beam 10 along X-axis, and roller gear 322 is fixed on the outfan of rotating driver 31, and roller gear 322 engagement is matched with on tooth bar 321.Thus realize the structure that transmission component 32 is in transmission connection between moving beam 20 and fixed cross beam 10, and by rotating driver 31 order about roller gear 322 rotate moving beam 20 can be driven to move back and forth along X-axis.More specifically, of the present utility model horizontal walk type feeding transfer manipulator 100 also include guide rail 60 and guide holder 70, guide rail 60 is fixed on fixed cross beam 10 along X-axis, guide holder 70 is fixed on the bottom of moving beam 20, guide holder 70 is slidably fastened on guide rail 60, so that moving beam 20 is more smoothly along moving back and forth of X-axis, flexibly and fast.
Refer to Fig. 4, first elevating mechanism 43 comprises the first travelling arm the 431, second travelling arm the 432, the 3rd linear actuator 433 and the 4th linear actuator 434, wherein, the 3rd linear actuator 433 and the 4th linear actuator 434 are both preferably cylinder, but are not limited thereto.First travelling arm 431 slides along Z axis and is located on the first Mobile base 41, and the second travelling arm 432 is located on the first travelling arm 431 along the slip that Z axis is plug-in type；3rd linear actuator 433 is fixed on the first Mobile base 41 along Z axis, first travelling arm 431 is connected to the outfan of the 3rd linear actuator 433, thus order about relative first Mobile base 41 of the first travelling arm 431 by the 3rd linear actuator 433 and slide up and down along Z axis, simple and reasonable.4th linear actuator 434 is fixed on the first travelling arm 431 along Z axis, second travelling arm 432 is connected to the outfan of the 4th linear actuator 434, thus order about relative first travelling arm 431 of the second travelling arm 432 by the 4th linear actuator 434 and slide up and down along Z axis, simple and reasonable.Adsorbing mechanism 44 is located at the bottom of the second travelling arm 432, relative first Mobile base 41 of the first travelling arm 431 can be ordered about by the 3rd linear actuator 433 to slide up and down along Z axis, and order about relative first travelling arm 431 of the second travelling arm 432 slide up and down along Z axis by the 4th linear actuator 434, realize driving adsorbing mechanism 44 to slide up and down along Z axis, and adsorbing mechanism 44 can be better met slide up and down required stroke along Z axis.
Referring to Fig. 1 to Fig. 4, the first feeding device 40 also comprises switching mechanism 45, and switching mechanism 45 comprises pin joint seat 451, rotating turret 452, trace 453 and the 5th linear actuator 454, and wherein, the 5th linear actuator 454 is preferably cylinder, but is not limited thereto.Pin joint seat 451 is fixed on the bottom of the second travelling arm 432, the top of rotating turret 452 is formed with the first articulated section 452a, first articulated section 452a is articulated on pin joint seat 451, rotating turret 452 is formed with the second articulated section 452b in the side-lower of the first articulated section 452a, 5th linear actuator 454 is fixed in the second travelling arm 432 along Z axis, the slip hindered to relative first travelling arm 431 of the second travelling arm 432 to prevent the installation of the 5th linear actuator 454, layout is the most reasonable.The upper end of trace 453 is articulated in the outfan of the 5th linear actuator 454, the lower end of trace 453 is articulated in the second articulated section 452b, and the 5th linear actuator 454 can order about trace 453 and drive rotating turret 452 to be back and forth pivoted between vertical direction and horizontal direction；Adsorbing mechanism 44 is located on rotating turret 452.Then, when adsorbing mechanism 44 adsorbs product removal injection machine, trace 453 can be ordered about by the 5th linear actuator 454 to move up along Z axis, trace 453 can drive rotating turret 452 to be turned to horizontal direction by vertical direction, with the transfer that product is kept flat, prevent from being bruised during product removal injection machine, it is possible to the more stable quality ensureing product.Specifically, in the present embodiment, adsorbing mechanism 44 comprises some suckers 441, sucker 441 is fixed on rotating turret 452, and the absorption direction of sucker 441 is perpendicular to rotating turret 452, and the absorption of sucker 441 is oriented parallel to rotating turret 452 place rotational plane, thus rotating turret 452 is when being positioned at vertical direction, the absorption direction of sucker 441 is in horizontal direction so that mould molding product out can be adsorbed by sucker 441 easily, simple and reasonable.
Refer to Fig. 5, second elevating mechanism 53 comprises the 3rd travelling arm the 531, the 4th travelling arm the 532, the 6th linear actuator 533 and the 7th linear actuator 534, wherein, the 6th linear actuator 533 and the 7th linear actuator 534 are both preferably cylinder, but are not limited thereto.3rd travelling arm 531 slides along Z axis and is located on the second Mobile base 51, and the 4th travelling arm 532 is located on the 3rd travelling arm 531 along the slip that Z axis is plug-in type；6th linear actuator 533 is fixed on the second Mobile base 51 along Z axis, 3rd travelling arm 531 is connected to the outfan of the 6th linear actuator 533, thus order about relative second Mobile base 51 of the 3rd travelling arm 531 by the 6th linear actuator 533 and slide up and down along Z axis, simple and reasonable.7th linear actuator 534 is fixed on the 3rd travelling arm 531 along Z axis, 4th travelling arm 532 is connected to the outfan of the 7th linear actuator 534 thus orders about the 4th relative 3rd travelling arm 531 of travelling arm 532 by the 7th linear actuator 534 and slide up and down along Z axis, simple and reasonable.Gripping body 54 is located at the bottom of the 4th travelling arm 532, relative second Mobile base 51 of the 3rd travelling arm 531 can be ordered about by the 6th linear actuator 533 to slide up and down along Z axis, and order about the 4th relative 3rd travelling arm 531 of travelling arm 532 slide up and down along Z axis by the 7th linear actuator 534, realize driving gripping body 54 to slide up and down along Z axis, and gripping body 54 can be better met slide up and down required stroke along Z axis.Specifically, in the present embodiment, gripping body 54 comprises pneumatic-finger 541 and two gripper jaws 542, pneumatic-finger 541 is fixed on the bottom of the 4th travelling arm 532, two gripper jaws 542 are respectively fixedly connected with on the corresponding outfan of pneumatic-finger 541, can realize mould molding regrinding-material out is gripped, simple and reasonable.
Referring to Fig. 1 to Fig. 3, more excellent, in the present embodiment, the second feeding device 50, between the first feeding device 40 and fixed cross beam 10, fetches and delivers needs with preferably adapt to product that mould formed out and regrinding-material, and layout structure is the most reasonable.
In conjunction with accompanying drawing, to of the present utility model horizontal walk type feeding transfer manipulator 100 operation principle be described in detail:
Wherein, fetching and delivering the concrete course of action of the product formed out is: orders about moving beam 20 by cross sliding driving device 30 and moves along the x-axis to the feeding station being positioned at injection machine, ordered about adsorbing mechanism 44 by the first elevating mechanism 43 of the first feeding device 40 again and be moved downward to the level height identical with the product formed out on mould along Z axis, being ordered about the first Mobile base 41 by the first linear actuator 42 again drives adsorbing mechanism 44 to move close to the product formed out along Y-axis, now rotating turret 452 is positioned at vertical direction, and adsorbed mould molding out product by adsorbing mechanism 44；Then, being ordered about the first Mobile base 41 by the first linear actuator 42 drives adsorbing mechanism 44 reversely to move away from above-mentioned mould along Y-axis, the pulling of product is departed from mould, then ordered about adsorbing mechanism 44 by the first elevating mechanism 43 and move up the initial position being back to before declining along Z axis；Then, then being ordered about trace 453 by the 5th linear actuator 454 and move up along Z axis, trace 453 can drive rotating turret 452 to be turned to horizontal direction by vertical direction, with by product by vertically placing upset as horizontal positioned；Then, order about moving beam 20 by cross sliding driving device 30 to move along the x-axis to the unloading station outside injection machine the discharging operation carrying out unloading adsorbed product.
Furthermore, fetching and delivering the concrete course of action of the regrinding-material formed out is: orders about moving beam 20 by cross sliding driving device 30 and moves along the x-axis to the feeding station being positioned at injection machine, ordered about gripping body 54 by the second elevating mechanism 53 of the second feeding device 50 again and be moved downward to the level height identical with the regrinding-material formed out on above-mentioned mould along Z axis, being ordered about the second Mobile base 51 by the second linear actuator 52 again drives gripping body 54 to move close to the regrinding-material formed out along Y-axis, and is clamped, by gripping body 54, the regrinding-material that forms out；Then, being ordered about the second Mobile base 51 by the second linear actuator 52 drives gripping body 54 reversely to move away from mould along Y-axis, the pulling of regrinding-material is departed from mould, then ordered about gripping body 54 by the second elevating mechanism 53 and move up the initial position being back to before declining along Z axis；Then, order about moving beam 20 by cross sliding driving device 30 to move along the x-axis to the unloading station outside injection machine the discharging operation carrying out unloading sandwiched regrinding-material.
Wherein, it should be noted that, it can be to connect have the product of regrinding-material or cut off the product in regrinding-material that adsorbing mechanism 44 is adsorbed the product of transfer, same, gripping body 54 picked up transfer regrinding-material can be to connect have the regrinding-material of product or cut off the regrinding-material in product.
Compared with prior art, due to of the present utility model horizontal walk type feeding transfer manipulator 100 fixed cross beam 10 along a level X-axis arrange, moving beam 20 slides along X-axis and is located on fixed cross beam 10, and moving beam 20 is along the Y-axis layout of a level, Y-axis is perpendicular to X-axis, and cross sliding driving device 30 orders about moving beam 20 and moves back and forth between unloading station and feeding station along X-axis；First Mobile base 41 of the first feeding device 40 slides along Y-axis and is located on moving beam 20, first linear actuator 42 is fixed on moving beam 20 along Y-axis, first Mobile base 41 is connected to the outfan of the first linear actuator 42, first elevating mechanism 43 is located on the first Mobile base 41 along a vertical Z axis, adsorbing mechanism 44 for adsorption production is located at the bottom of the first elevating mechanism 43, and the first elevating mechanism 43 orders about adsorbing mechanism 44 and moves back and forth along Z axis；Second Mobile base 51 of the second feeding device 50 slides along Y-axis and is located on moving beam 20, second linear actuator 52 is fixed on moving beam 20 along Y-axis, second Mobile base 51 is connected to the outfan of the second linear actuator 52, second elevating mechanism 53 is located on the second Mobile base 51 along Z axis, be located at the bottom of the second elevating mechanism 53 for gripping regrinding-material gripping body 54, the second elevating mechanism 53 orders about gripping body 54 and moves back and forth along Z axis.Thus, moving beam 20 can be ordered about by cross sliding driving device 30 to move along the x-axis to feeding station, ordered about adsorbing mechanism 44 by the first elevating mechanism 43 of the first feeding device 40 again and be moved downward to the level height identical with the product formed out on mould along Z axis, being ordered about the first Mobile base 41 by the first linear actuator 42 again drives adsorbing mechanism 44 to move close to the product formed out along Y-axis, and is adsorbed, by adsorbing mechanism 44, the product that forms out；Then, being ordered about the first Mobile base 41 by the first linear actuator 42 drives adsorbing mechanism 44 reversely to move away from above-mentioned mould along Y-axis, the pulling of product is departed from mould, then ordered about adsorbing mechanism 44 by the first elevating mechanism 43 and move up the initial position being back to before declining along Z axis；Then, order about moving beam 20 by cross sliding driving device 30 to move along the x-axis to unloading station the discharging operation carrying out unloading adsorbed product.And, order about moving beam 20 by cross sliding driving device 30 to move along the x-axis to feeding station, ordered about gripping body 54 by the second elevating mechanism 53 of the second feeding device 50 again and be moved downward to the level height identical with the regrinding-material formed out on above-mentioned mould along Z axis, being ordered about the second Mobile base 51 by the second linear actuator 52 again drives gripping body 54 to move close to the regrinding-material formed out along Y-axis, and is clamped, by gripping body 54, the regrinding-material that forms out；Then, being ordered about the second Mobile base 51 by the second linear actuator 52 drives gripping body 54 reversely to move away from mould along Y-axis, the pulling of regrinding-material is departed from mould, then ordered about gripping body 54 by the second elevating mechanism 53 and move up the initial position being back to before declining along Z axis；Then, order about moving beam 20 by cross sliding driving device 30 to move along the x-axis to unloading station the discharging operation carrying out unloading sandwiched regrinding-material.That is, of the present utility model horizontal walk type feeding transfer manipulator 100 achieve and automatically fetch and deliver the product and regrinding-material formed out, course of action is the simplest and flexibly and fast, and working performance is greatly improved；Can preferably avoid damage to the surface of product, with stable products quality guarantee；Greatly reduce operator and the probability of unexpected industrial injury occurs, it is possible to preferably ensure operator safety.And, of the present utility model horizontal walk type feeding transfer manipulator 100 advantage also with simple in construction.
Above disclosed it is only preferred embodiment of the present utility model, certainly can not limit the interest field of this utility model, the equivalent variations therefore made according to this utility model claim with this, still fall within the scope that this utility model is contained.
Claims (10)
1. one kind horizontal walk type feeding transfer manipulator, it is adaptable to fetch and deliver the product and regrinding-material formed out, it is characterised in that described horizontal walk type feeding transfer manipulator include:
Fixed cross beam, described fixed cross beam is arranged along the X-axis of a level；
Moving beam, described moving beam slides along described X-axis and is located on described fixed cross beam, and described moving beam arranges along the Y-axis of a level, described Y-axis is perpendicular to described X-axis, and described moving beam has the unloading station along the spaced apart distribution of described X-axis and feeding station；
Cross sliding driving device, described cross sliding driving device is located on described moving beam, and described cross sliding driving device is in transmission connection on described fixed cross beam, moves back and forth between described unloading station and feeding station along described X-axis ordering about described moving beam；
First feeding device, described first feeding device comprises the first Mobile base, first linear actuator, first elevating mechanism and for adsorbing the adsorbing mechanism of described product, described first Mobile base slides along described Y-axis and is located on described moving beam, described first linear actuator is fixed on described moving beam along described Y-axis, described first Mobile base is connected to the outfan of described first linear actuator, described first elevating mechanism is located on described first Mobile base along a vertical Z axis, described adsorbing mechanism is located at the bottom of described first elevating mechanism, described first elevating mechanism orders about described adsorbing mechanism and moves back and forth along described Z axis；And
Second feeding device, described second feeding device comprises the second Mobile base, second linear actuator, second elevating mechanism and for gripping the gripping body of described regrinding-material, described second Mobile base slides along described Y-axis and is located on described moving beam, described second linear actuator is fixed on described moving beam along described Y-axis, described second Mobile base is connected to the outfan of described second linear actuator, described second elevating mechanism is located on described second Mobile base along described Z axis, described gripping body is located at the bottom of described second elevating mechanism, described second elevating mechanism orders about described gripping body and moves back and forth along described Z axis.
The most horizontal walk type feeding transfer manipulator, it is characterized in that, described cross sliding driving device comprises rotating driver and transmission component, described rotating driver is fixed on described moving beam, described transmission component is in transmission connection between described moving beam and fixed cross beam, and described rotating driver orders about described moving beam by described transmission component and moves back and forth along described X-axis.
The most horizontal walk type feeding transfer manipulator, it is characterized in that, described transmission component comprises tooth bar and roller gear, described tooth bar is fixed on described fixed cross beam along described X-axis, described roller gear is fixed on the outfan of described rotating driver, and the engagement of described roller gear is matched with on described tooth bar.
The most horizontal walk type feeding transfer manipulator, it is characterized in that, also including guide rail and guide holder, described guide rail is fixed on described fixed cross beam along described X-axis, described guide holder is fixed on the bottom of described moving beam, and described guide holder is slidably fastened on described guide rail.
The most horizontal walk type feeding transfer manipulator, it is characterized in that, described first elevating mechanism comprises the first travelling arm, the second travelling arm, the 3rd linear actuator and the 4th linear actuator, described first travelling arm slides along described Z axis and is located on described first Mobile base, and described second travelling arm slides along described Z axis and is located on described first travelling arm；Described 3rd linear actuator is fixed on described first Mobile base along described Z axis, and described first travelling arm is connected to the outfan of described 3rd linear actuator；Described 4th linear actuator is fixed on described first travelling arm along described Z axis, and described second travelling arm is connected to the outfan of described 4th linear actuator；Described adsorbing mechanism is located at the bottom of described second travelling arm.
nullThe most horizontal walk type feeding transfer manipulator，It is characterized in that，Described first feeding device also comprises switching mechanism，Described switching mechanism comprises pin joint seat、Rotating turret、Trace and the 5th linear actuator，Described pin joint seat is fixed on the bottom of described second travelling arm，The top of described rotating turret is formed with the first articulated section，Described first articulated section is articulated on described pin joint seat，The described rotating turret side-lower in described first articulated section is formed with the second articulated section，Described 5th linear actuator is fixed in described second travelling arm along described Z axis，The upper end of described trace is articulated in the outfan of described 5th linear actuator，The lower end of described trace is articulated in described second articulated section，Described 5th linear actuator can order about described trace and drive described rotating turret to be back and forth pivoted between vertical direction and horizontal direction；Described adsorbing mechanism is located on described rotating turret.
The most horizontal walk type feeding transfer manipulator, it is characterized in that, described adsorbing mechanism comprises some suckers, described sucker is fixed on described rotating turret, the absorption direction of described sucker is perpendicular to described rotating turret, and the absorption of described sucker is oriented parallel to described rotating turret place rotational plane.
The most horizontal walk type feeding transfer manipulator, it is characterized in that, described second elevating mechanism comprises the 3rd travelling arm, the 4th travelling arm, the 6th linear actuator and the 7th linear actuator, described 3rd travelling arm slides along described Z axis and is located on described second Mobile base, and described 4th travelling arm slides along described Z axis and is located on described 3rd travelling arm；Described 6th linear actuator is fixed on described second Mobile base along described Z axis, and described 3rd travelling arm is connected to the outfan of described 6th linear actuator；Described 7th linear actuator is fixed on described 3rd travelling arm along described Z axis, and described 4th travelling arm is connected to the outfan of described 7th linear actuator；Described gripping body is located at the bottom of described 4th travelling arm.
The most horizontal walk type feeding transfer manipulator, it is characterized in that, described gripping body comprises pneumatic-finger and two gripper jaws, and described pneumatic-finger is fixed on the bottom of described 4th travelling arm, and gripper jaw described in two is respectively fixedly connected with on the corresponding outfan of described pneumatic-finger.
The most horizontal walk type feeding transfer manipulator, it is characterised in that described second feeding device is between described first feeding device and described fixed cross beam.
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| CN201521137641.8U CN205439139U (en) | 2015-12-30 | 2015-12-30 | Type of violently walking is got material and is transferred manipulator |
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| CN201521137641.8U CN205439139U (en) | 2015-12-30 | 2015-12-30 | Type of violently walking is got material and is transferred manipulator |
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| CN205439139U true CN205439139U (en) | 2016-08-10 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346726A (en) * | 2016-10-31 | 2017-01-25 | 江门市鼎豪汽摩部件有限公司 | Automatic material taking device of injection molding machine |
| CN107585571A (en) * | 2017-09-08 | 2018-01-16 | 广东科捷龙机器人有限公司 | Injection machine multistation intelligently aids in fetching device |
| CN107639780A (en) * | 2017-09-06 | 2018-01-30 | 苏州市春欣塑料制品有限公司 | The feeding device of bar plastic part shaping |
| CN108394686A (en) * | 2018-02-10 | 2018-08-14 | 成都明杰科技有限公司 | It can carry out the multidirectional device collected of material |
| CN109304848A (en) * | 2017-07-28 | 2019-02-05 | 盐城三鼎电子科技有限公司 | A kind of more injection molding horn hands |
| CN110435116A (en) * | 2019-08-15 | 2019-11-12 | 安徽宇格机械科技有限公司 | Base is divided to lock base device automatically |
-
2015
- 2015-12-30 CN CN201521137641.8U patent/CN205439139U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346726A (en) * | 2016-10-31 | 2017-01-25 | 江门市鼎豪汽摩部件有限公司 | Automatic material taking device of injection molding machine |
| CN109304848A (en) * | 2017-07-28 | 2019-02-05 | 盐城三鼎电子科技有限公司 | A kind of more injection molding horn hands |
| CN107639780A (en) * | 2017-09-06 | 2018-01-30 | 苏州市春欣塑料制品有限公司 | The feeding device of bar plastic part shaping |
| CN107585571A (en) * | 2017-09-08 | 2018-01-16 | 广东科捷龙机器人有限公司 | Injection machine multistation intelligently aids in fetching device |
| CN108394686A (en) * | 2018-02-10 | 2018-08-14 | 成都明杰科技有限公司 | It can carry out the multidirectional device collected of material |
| CN110435116A (en) * | 2019-08-15 | 2019-11-12 | 安徽宇格机械科技有限公司 | Base is divided to lock base device automatically |
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